Profile Position Mode（Pp; Related Objects - Parker FL-20-C Series Product Manual

7.3 Profile position mode（PP）
In this mode of operation, host controller uses the path generation function (an operation profile
calculation function) inside the servo drive to perform PTP positioning operation. It executes
path generation, position control, speed control, and torque control based on the target position,
profile acceleration, profile deceleration, and other information.
Target position 607Ah
Profile velocity 6081h
Profile acceleration 6083h
Gear ratio
Profile deceleration6084h
6091h : 01h
6091h : 02h

7.3.1 Related objects

Control word 6040h
Bit Name
0 Switch on
1 Enable voltage
2 Quick stop
3 Enable operation
4 New set-point
Change set
5
immediately
6 abs/rel
Position feedward
2003h : 04h
Position
feedback
+
Position loop gain
2003h ： 02h
-
calculation
Torque amplitude
Fig 7.3.1 Block diagram for the PP mode
If bit0 to bit3 are all 1, the servo drive starts running.
Starts positioning at rising edge from 0 to 1 of the signal.
In this timing, the values of 607Ah (target position), 6081h
(Profile velocity), 6083h (Profile acceleration), and 6084h
(Profile deceleration) are obtained.
0: Not change set immediately.
1: Change set immediately.
0: Target position being absolute position reference.
+
+
Max. motor speed
607Fh
Speed
Torque
6072h
regulator
Actual torque feedback
6063 h
Description
140
Torque regulator
+
2001h : 02h
2001h : 03h
-
Encoder
Motor